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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
95 lines
3.3 KiB
C++
95 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "AnalogPotentiometer.h"
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#include "ControllerPower.h"
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/**
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* Construct an Analog Potentiometer object from a channel number.
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* @param channel The channel number on the roboRIO to represent. 0-3 are
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* on-board 4-7 are on the MXP port.
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* @param fullRange The angular value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the angular
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* output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
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double offset)
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: m_analog_input(std::make_unique<AnalogInput>(channel)),
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m_fullRange(fullRange),
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m_offset(offset) {}
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/**
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* Construct an Analog Potentiometer object from an existing Analog Input
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* pointer.
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* @param channel The existing Analog Input pointer
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* @param fullRange The angular value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the angular
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* output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(AnalogInput *input, double fullRange,
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double offset)
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: m_analog_input(input, NullDeleter<AnalogInput>()),
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m_fullRange(fullRange),
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m_offset(offset) {}
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/**
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* Construct an Analog Potentiometer object from an existing Analog Input
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* pointer.
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* @param channel The existing Analog Input pointer
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* @param fullRange The angular value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the angular
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* output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
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double fullRange, double offset)
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: m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {}
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/**
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* Get the current reading of the potentiometer.
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*
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* @return The current position of the potentiometer (in the units used for
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* fullRaneg and offset).
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*/
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double AnalogPotentiometer::Get() const {
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return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) *
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m_fullRange +
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m_offset;
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}
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/**
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* Implement the PIDSource interface.
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*
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* @return The current reading.
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*/
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double AnalogPotentiometer::PIDGet() { return Get(); }
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/**
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* @return the Smart Dashboard Type
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*/
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std::string AnalogPotentiometer::GetSmartDashboardType() const {
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return "Analog Input";
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}
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/**
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* Live Window code, only does anything if live window is activated.
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*/
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void AnalogPotentiometer::InitTable(std::shared_ptr<ITable> subtable) {
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m_table = subtable;
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UpdateTable();
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}
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void AnalogPotentiometer::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Value", Get());
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}
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}
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std::shared_ptr<ITable> AnalogPotentiometer::GetTable() const { return m_table; }
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